基于几何方法的智能轮椅开门任务的路径规划  

Path planning of opening door for intelligent wheelchairs based-on geometric method

作　　者：朱智平[1,2] 叶爱学[1] 温丰[1] 董小明[1] 邹伟[1] 原魁[1] 

机构地区：[1]中国科学院自动化研究所,北京100190 [2]长沙机电产品研究开发中心,长沙410100

出　　处：《高技术通讯》2011年第8期855-860,共6页Chinese High Technology Letters

基　　金：863计划项目（2006AA040202-02,2008AA040204）和国家自然科学基金（60705026,60875051）资助项目.

摘　　要：究了装有机械臂的智能轮椅的开门动作的控制，给出了开门任务的优化准则函数，并提出了一种基于几何方法的路径规划算法。该算法通过分析智能轮椅开门动作投影到二维平面的几何关系，结合轮椅本体的运动学模型和优化准则函数，利用模拟退火算法求解轮椅本体的运动轨迹。在确定了轮椅本体的运动轨迹后，通过几何方法可以求解出机械臂的运动轨迹。实验证明了该算法的有效性。The paper studies the control of the opening door activies of an intelligent wheelchair with a mounted robotic arm, and presents an optional criterion function and proposes a path planning algorithm based on the geometric method for the opening task. Based on the analysis of the geometric relationship of the opening door activities, the method solves the motion trajectory of the intelligent wheelchair by using the simulated annealing algorithm in combination with wheelchairs＇ kinematic model and optional criterion function. Then, the motion trajectory of manipulator is solved based on the geometric method. The experimental results show the system＇ s good performances.

关 键 词：智能轮椅 几何方法 路径规划 准则函数 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]